JP3318237B2 - Work equipment steering system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine such as a combine machine in which a continuously variable transmission for traveling and a second transmission are connected in series to a transmission system for left and right traveling devices in series. To a steering device.

[0002]

2. Description of the Related Art As a steering device for a working machine of this type, the inventor of the present invention operates in synchronism with the continuously variable transmission for traveling when the turning operation tool is in a straight-ahead position, and simultaneously operates the turning operation tool. A continuously variable transmission for turning that decelerates with an increase in the amount of turning operation is provided. Based on the turning operation of the turning operation tool, the continuously variable transmission for shifting the traveling inside of the left and right traveling devices is used. In this case, the vehicle is provided with a turning interlocking means for interlocking the traveling device inside the turning with the continuously variable transmission for turning. When using the steering device of this work machine, the traveling device inside the turning can be steplessly decelerated by the continuously variable transmission for turning, so that the turning radius can be freely selected, and when traveling straight ahead, Since both the left and right traveling devices are driven via the continuously variable transmission for traveling speed change and the second transmission, for example, a continuously variable transmission is provided for each of the left and right traveling devices, and the left and right traveling devices are each There is an advantage that the straight running performance can be improved as compared with the case of driving separately. However, this type of working machine steering device is still under development, and it is necessary to solve the following problems when implementing it.

[0003]

That is, when the second transmission is in a high-speed transmission state, the continuously variable transmission for traveling transmission or the first traveling device drive unit by the second transmission and the continuously variable transmission for turning. The synchronous relationship between the continuously variable transmission for traveling and the continuously variable transmission for turning is set so that the second traveling device drive unit of the device rotates at a constant speed. The traveling speed of the traveling device inside the turning is made equal to the traveling speed of the traveling device outside the turning so that the transition from straight running to turning can be smoothly performed. However, in this case, the rotation speed of the second traveling device drive unit when the second transmission device is in the low speed transmission state becomes higher than the rotation speed of the first travel device drive unit, and thus the second transmission device is driven at a low speed. When turning in the low-speed running in the state, the running speed of the traveling device inside the turning in the initial stage of the turning operation is higher than the running speed of the traveling device outside the turning, and the turning is performed in the opposite direction.

[0004] An object of the present invention is to improve turning operability.

[0005]

The features, functions and effects of the first aspect of the present invention are as follows.

[Characteristics] In a working machine in which a continuously variable transmission for traveling and a second transmission are connected in series to a transmission system for left and right traveling devices in a state of being connected in series, a turning operation tool moves straight. And a stepless transmission for turning that operates in synchronization with the continuously variable transmission and decelerates with an increase in the amount of turning operation of the turning operation tool, based on the turning operation of the turning operation tool. Turning interlocking means for interlocking the traveling device inside the turning with the continuously variable transmission for turning while interlocking the traveling device inside the turning with the continuously variable transmission for turning. The synchronous relationship between the continuously variable transmission for shifting and the continuously variable transmission for turning is determined by the first traveling by the continuously variable transmission for traveling or the second transmission when the second transmission is in the high-speed transmission state. Device drive unit and continuously variable transmission for turning The second traveling device drive unit is set to rotate at a constant speed, and when the turning operation tool is turned in a state where the second transmission is in the low-speed transmission state, the rotation speed of the second traveling device drive unit is increased. The present invention is characterized in that an interlocking restraint means for restraining the operation of the turning interlocking means until the rotation speed decreases to a set value equal to or lower than the rotation speed of the first traveling device drive unit is provided.

According to the first aspect of the present invention, when the turning operation tool is in the straight-ahead position, it operates in synchronism with the continuously variable transmission for traveling speed change, and with an increase in the amount of turning operation of the turning operation tool. Provide a continuously variable transmission for turning that performs deceleration operation,
Based on the turning operation of the turning operation tool, interlocking of the left and right traveling devices with the continuously variable transmission for traveling speed change is performed on the inside of the turning and interlocking the traveling device inside the turning with the continuously variable transmission for turning. There is a turning interlocking means to make
Since the traveling device inside the turning can be decelerated in a stepless manner by the continuously variable transmission for turning, the turning radius can be freely selected, and when traveling straight ahead, the continuously variable transmission for traveling and the second Since the left and right traveling devices are driven together via the transmission, for example, the straight running performance can be improved as compared with a case where a continuously variable transmission is provided for each of the left and right traveling devices and the left and right traveling devices are separately driven. Can be excellent.

In addition, when the second transmission is in the high-speed transmission state, the continuously variable transmission for traveling speed change or the first traveling device driving section by the second transmission and the second traveling by the continuously variable transmission for turning. Since the synchronous relationship between the continuously variable transmission for traveling and the continuously variable transmission for turning is set so that the device drive unit rotates at a constant speed, the inside of the turning at the start of turning in a high-speed running state is set. By making the traveling speed of the traveling device equal to the traveling speed of the traveling device outside the turn, the transition from straight running to turning can be smoothly performed.

Further, by providing interlocking check means,
When the turning operation tool is turned while the second transmission is in the low-speed transmission state, the rotation speed of the second traveling device drive unit is reduced to a set value equal to or lower than the rotation speed of the first travel device drive unit. Since the operation of the turning interlocking means is restrained, both the continuously variable drive units are driven such that the first drive unit and the second drive unit rotate at a constant speed when the second transmission is in the high-speed transmission state. Set the synchronizing relationship of the transmission so that the transition from straight running to turning in a high speed running state can be smoothly performed, but running inside the turning when turning by operating the turning operation tool in the low speed running state. The traveling speed of the device can be set to be equal to or lower than the traveling speed of the traveling device on the outside of the turn from the initial stage of the turn, and the turning in the opposite direction can be reliably prevented.

[Effects] Therefore, according to the first aspect of the present invention, regardless of whether the vehicle is traveling at a high speed or at a low speed, the traveling device inside the turning is decelerated and driven by the continuously variable transmission for turning. Can be performed smoothly.

According to the second aspect of the present invention, the features, functions,
The effects are as follows.

[Features] In the features of the first invention,
The point is that the set value is the number of revolutions of the first traveling device drive unit.

[Operation] According to the second aspect of the present invention, the rotation speed of the first traveling device drive unit is selected as the set value, and the turning operation tool is turned while the second transmission is in the low speed transmission state. At the start of the turn, the travel speed of the travel device inside the turn is equal to the travel speed of the travel device outside the turn. It is possible to prevent the vehicle from turning sharply because the difference from the traveling speed of the device is too large.

[Effects] Therefore, according to the second aspect of the present invention, turning at low speed can be smoothly performed.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a combine includes a self-propelled body equipped with a pair of left and right crawler-type traveling units 1, a threshing device 2 and a control unit 3, and a front part of the self-propelled body. The mowing part 4 is connected so as to be able to move up and down freely. The cutting unit 4 includes a raising device 5 for raising the planted grain culm, a clipper-type cutting device 6 for cutting the root of the raised planted grain culm, and a cut chain culm to the feed chain 2A of the threshing device 2. The apparatus is provided with a supply device 7 for conveying and supplying.

As shown in FIG. 2, a transmission system from the engine 8 mounted on the self-propelled body to the left and right traveling devices 1 is driven by a variable displacement hydraulic pump 9P and pressure oil generated thereby. A hydrostatic continuously variable transmission 9 for traveling speed changeable between forward and backward, comprising a hydraulic motor 9M, a variable displacement hydraulic pump 10P, and a hydraulic motor 10M driven by pressure oil generated thereby. A hydrostatic continuously variable transmission 10 for turning, which is switchable between forward and backward, provided in a state where both hydraulic pumps 9P, 10P are driven by an engine 8 via a belt transmission 11; In a transmission case 12 that supports one axle 1A, a gear-type auxiliary transmission 13 that can be switched between high and low in two stages that is interlocked with a hydraulic motor 9M for traveling speed change, and is always interlocked with the auxiliary transmission 13. A center gear 14, the hydraulic motor 10M to the relay gear 15L for the swing, a pair of right and left interlocking constantly via respective 15R side gears 16L, 1
6R and a pair of left and right shift members 17L and 17R that are always gear-coupled to each of the left and right axles 1A. The shift members 17L and 17R are shifted to the center position on the side of the center gear 14 by shifting the shift members 17L and 17R.
The shift members 17L, 17R are shifted to the corresponding side gears 16L, 16R side by shifting the shift members 17L, 17R to the corresponding side gears 16L, 16R by shifting the shift members 17L, 17R to the corresponding side gears 16L, 16R. And a pair of left and right friction clutches 19L and 19R that are interlocked with each other. The auxiliary transmission 13 is a second transmission for traveling transmission according to the present invention connected in series to the continuously variable transmission 9 for traveling transmission, and the center gear 14 is a second transmission for the traveling transmission. The side gears 16L and 16R are the second traveling device drive units by the turning continuously variable transmission 10 according to the present invention, which is a first traveling device drive unit by the device 13 (second transmission device).

The sub-transmission 13 is provided with a small-diameter low-speed transmission gear 23L and a large-diameter high-speed transmission gear 23H on a counter shaft 22 interlocked with an output shaft 9A of a traveling speed hydraulic motor 9M via a pair of gears 20 and 21. And freely rotate only,
A large-diameter low-speed passive gear 26L and a high-speed transmission gear 2, which are always linked to the low-speed transmission gear 23L, are mounted on a sleeve 25 rotatably mounted only on the shaft 24 of the relay gears 15L and 15R.
A small-diameter high-speed passive gear 26H constantly linked to 3H is mounted so as to rotate integrally, and the counter shaft 22 is set to a low-speed position linked only to the low-speed transmission gear 23L and a high-speed position linked only to the high-speed transmission gear 23H. The shift member 27 operable to shift through the sub-transmission lever 36 is spline-fitted. That is, the low speed transmission from the counter shaft 22 to the sleeve 25 is performed by linking the shift member 27 to the low speed transmission gear 23L, and the high speed transmission is performed from the counter shaft 22 to the sleeve 25 by linking the shift member 27 to the high speed transmission gear 23H. It has become.

The center gear 14 is linked to the auxiliary transmission 13 by meshing the center gear 14 with the low-speed passive gear 26L.

The friction clutches 19L and 19R are biased by springs 28L and 28R. When the shift members 17L and 17R are located at the center positions, only the pawl clutches 18L and 18R are engaged and the shift members 17L and 17R are operated. , 17R are located at the side positions, only the friction clutches 19L, 19R are engaged.

The sleeve 25 is provided with a parking gear 31 interlocking with a gear 30 mounted on a shaft 29A of a parking brake 29 so as to rotate integrally therewith.

The shift members 17L and 17R are arranged as shown in FIG.
As shown in the figure, shifters 33 driven separately by left and right pistons 32L, 32R of the hydraulic actuator 32, respectively.
The shift operation is performed with L and 33R.

As shown in FIG. 3, the operating device for the continuously variable transmissions 9 and 10 is provided with a main transmission lever 34 and a swing lever 35 which is a swing operation tool and can swing left and right. A link operating means for operating both the continuously variable transmissions 9 and 10 based on the operation of the shift lever 34 and the turning lever 35 is provided.

The linkage operation means operates a main transmission for actuating a trunnion shaft (hereinafter referred to as a transmission trunnion shaft) 9a for changing the capacity of the traveling speed hydraulic pump 9P in conjunction with the operation of the main transmission lever 34. A push-pull wire 37 is provided, which is interlocked with the turning lever 35 via a release wire 38 for turning and is also interlocked with the trunnion shaft 9a for shifting via a tuning rod 39 and is turned via a push-pull wire 41 for turning. Hydraulic pump 10
The continuously variable transmissions 9 and 10 are synchronized with each other in a state in which the turning lever 35 is in a “straight-ahead” position in conjunction with a trunnion shaft (hereinafter, referred to as a turning trunnion shaft) 10 a for changing the capacity at P. The tuning means 40 is provided.

When the turning lever 35 is in the "straight forward" position and the auxiliary transmission 13 is in the high-speed transmission state, the tuning means 40 is in contact with the center gear 14 and the side gears 16L,
16R and the continuously variable transmissions 9 and 10 are set in synchronization with each other so as to rotate at the same rotational speed in the same direction, and the maximum operation of the turning lever 35 when the auxiliary transmission 13 is in the high-speed transmission state. Gears 16L, 16 associated with the turning operation to the position
The two continuously variable transmissions 9 and 10 such that the rotation speed of the center gear 14 in the direction opposite to the rotation speed of the center gear 14 becomes the rotation speed of the center gear 14.
Is a means of associating Specifically, as shown in FIGS. 4 to 14, a swing arm 44 that swings around the first axis P <b> 1 in conjunction with the operation of the tuning rod 39 is provided. A rod-shaped slide member 45 which reciprocates along a linear path in conjunction with the slide member 45 is provided.
5, the swinging push-pull wire 41 is fixed to the tip, and the swinging lever 46 rotatably supporting the guide roller 47 is swingably swingable around a second axis P <b> 2 parallel to the first axis P <b> 1. A guide rail 48 for moving and guiding the guide roller 47 is attached to a fixed portion so as to be swingable around a third axis P3 parallel to the second axis P2, and is pulled to the guide rail 48 by a release wire 38 for rotation. A pull operation arm 49 that is operated to swing the guide rail 48 is fixed.

When the gearshift trunnion shaft 9a is at the gearshift neutral position N, as shown in FIG.
7 is located on the third shaft center P3 of the guide rail 48 and the transmission trunnion shaft 9a is in the forward movement range F, the guide roller 47 is moved to the third shaft center P3 of the guide rail 48 as shown in FIG. When the transmission trunnion shaft 9a is located in the reverse region R, the guide roller 47 is located at the other side of the third rail P3 of the guide rail 48, as shown in FIG. The positional relationship between the slide member 45 and the guide rail 48 is set so as to perform the operation.

The guide rail 48 swings around the third axis P3 to swing the guide roller 47, that is, the swing lever 46, to operate the turning push-pull wire 41. The pulling operation by the turning release wire 38 causes the turning end of the turning trunnion shaft 10a to be moved from the first inclined position in which one end is positioned closer to one side than the position in parallel with the slide member 45. The second side of which one end is located on the other side
The swinging operation is performed to the inclined posture against the urging force of the spring 50, and the parallel posture is such that the swing lever 46 is positioned at the neutral position for shifting and the turning trunnion shaft 10 a is moved to the neutral position N for shifting. It is set to the position to be located at. More specifically, as shown in FIGS. 7, 10, and 11, when the guide roller 47 is positioned on one side and in a posture between the first inclined posture and a posture parallel to the first inclined posture, the swing lever 46 is moved. Is positioned in the forward posture, and by positioning the rocking lever 46 in the parallel posture, the rocking lever 46 is positioned in the neutral position for shifting. By positioning the rocking lever 46 in the posture between the parallel posture and the second inclined posture, the rocking lever 46 is moved. 9, 12, and 13, the guide roller 47 is swung by being in a posture between the first inclined posture and a posture parallel to the first inclined posture in a state in which the guide roller 47 is located on the other side, as shown in FIGS. The moving lever 46 is positioned in the reverse position, and is positioned in the parallel position, whereby the rocking lever 46 is positioned in the neutral position for shifting, and is rocked by being positioned between the parallel position and the second inclined position. Lever 4 The one in which is positioned in a forward posture.

Therefore, if the main shift lever 34 is now located at the shift neutral position N and the turning lever 35 is located at the "straight forward" position, as shown in FIG. While the hydraulic motor 9M for traveling speed is stopped at the neutral position N and the guide rail 48 is in the first inclined posture, the guide roller 47 is in the third shaft center P3 position and the swing lever 46 is Is located in the shift neutral position, the turning trunnion shaft 10a is located at the shift neutral position N, and the turning hydraulic motor 10M is also stopped. When the main shift lever 34 is operated in the forward range F in this state, the traveling trunnion shaft 9a is operated to the shift position in the forward range F corresponding to the operated position of the main shift lever 34 as shown in FIG. The shift hydraulic motor 9M rotates forward at a rotation speed corresponding to the operation position of the main shift lever 34, and the guide roller 47 moves to one side of the guide rail 48, so that the swing lever 46 moves forward. When the swinging operation is performed, the turning trunnion shaft 10a is operated to the shift position in the forward range F corresponding to the operating position of the main shift lever 34, and the turning hydraulic motor 10M is operated in accordance with the operating position of the main shift lever 34. That is, it rotates forward at a rotation speed proportional to the rotation speed of the traveling speed hydraulic motor 9M. On the other hand, when the main transmission lever 34 is operated in the reverse range R in the above state, the transmission trunnion shaft 9a is moved to the reverse position R corresponding to the operation position of the main transmission lever 34 as shown in FIG. As a result, the traveling speed hydraulic motor 9M reversely rotates at a rotation speed corresponding to the operation position of the main speed change lever 34, and the swing lever 46 is moved by the guide roller 47 moving to the other side of the guide rail 48. By being swung to the reverse side, the turning trunnion shaft 10a is operated to the shift position in the reverse region R corresponding to the operating position of the main shift lever 34, and the turning hydraulic motor 10M corresponds to the operating position, that is, The reverse rotation is performed at a rotation speed proportional to the rotation speed of the traveling speed hydraulic motor 9M. In addition, when the turning lever 35 is tilted to the left or right while the main shift lever 34 is located at the shift neutral position N, that is, when the turning operation is performed, (a), (b), and (c) of FIG. As shown in FIG. 7, although the guide rail 48 is operated to swing, the guide roller 37
Is in the third shaft center P3 and does not move, so that the swing lever 46 is maintained in the neutral position for shifting, and the turning trunnion shaft 10a is maintained in the neutral position for shifting and the hydraulic motor 10M for turning regardless of the turning operation. Is stopped and maintained. Then, when the turning lever 35 is turned to the left or right in the forward running state in which the main shift lever 34 is operated in the forward range F, the guide rail 48 is turned as shown in FIGS. The swinging trunnion shaft 10a is operated to the deceleration side in the forward range F until the swinging lever 46 is operated to the neutral position for shifting by the swinging operation of the guide rail 48. Hydraulic motor for turning 10M
When the swing lever 46 is operated to the neutral position for shifting, the turning trunnion shaft 10a is operated to the neutral position N for shifting. The hydraulic motor 10 for turning
When the swing lever 46 is operated beyond the neutral position for shifting, the turning trunnion shaft 10a is operated to the speed increasing side in the reverse region R, and the turning hydraulic motor 10M is operated.
Is steplessly increased, and reversely rotates at a rotation speed corresponding to the operation position of the turning lever 35. Then, when the turning lever 35 is returned to the "straight forward" position, the guide rail 48 returns to the first inclined posture, and the turning hydraulic motor 10M rotates forward at the original rotation speed. On the other hand, the main shift lever 34
Is operated in the reverse range R and the turning lever 35
When the is turned to the left or right, the guide rail 48 is pulled and rocked as shown in FIGS. 9, 12, and 13, and the rocking lever is Until 46 is operated to the neutral position for shifting, the turning hydraulic motor 10M is steplessly decelerated by operating the turning trunnion shaft 10a to the deceleration side in the reverse region R, and according to the operating position of the turning lever 35. When the swing lever 46 is operated to the neutral position for shifting and the swinging trunnion shaft 10a is operated to the neutral position N for shifting, the hydraulic motor 10M for swing is stopped, and the swing is rotated. When the lever 46 is operated beyond the shift neutral position, the turning hydraulic motor 10M is steplessly increased in speed by operating the turning trunnion shaft 10a to the speed increasing side in the forward movement range F, and the turning lever 35 is turned on. of To move forward rotated at a rotational speed corresponding to the work position. Then, when the turning lever 35 is returned to the "straight forward" position, the guide rail 48 returns to the first inclined posture, and the turning hydraulic motor 10M rotates backward at the original rotation speed.

As shown in FIGS. 17 and 18, the maximum forward rotation speed and the maximum reverse rotation speed of the center gear 14 are set to be equal to each other, and the turning lever 35 is positioned at "straight ahead". Side gears 16L, 16R in the state
The maximum forward rotation speed and the maximum reverse rotation speed are set to be equal to the maximum forward rotation speed and the maximum reverse rotation speed of the center gear 14 when the auxiliary transmission 13 is in the high-speed transmission state, respectively.

Therefore, when the sub-transmission 13 is in the high-speed transmission state, when the swing lever 35 is operated to the maximum operation position of "left" or "right", the side gears 16L and 16R are moved in the opposite direction to the center gear 14. When the sub-transmission 13 is in the low-speed transmission state and the turning lever 35 is operated to the maximum operation position of "left" or "right", the side gears 16L and 16R , When the auxiliary transmission 13 is in a high-speed transmission state
4 rotates the center gear 14 at the same rotation speed. More specifically, as shown in FIG. 17, when the auxiliary transmission 13 is in the high-speed transmission state and the center gear 14
When the turning lever 35 is operated to the left or right maximum operating position while the gear is rotating at the maximum forward rotation speed or the maximum reverse rotation speed, the side gears 16L and 16R cause the maximum reverse rotation speed and the maximum When the auxiliary transmission 13 is in the low-speed transmission state and the center gear 14 is rotating at the maximum forward rotation speed or the maximum reverse rotation speed, as shown in FIG. When operated to the left or right maximum operating position, the side gears 16L, 16R rotate at their maximum reverse rotation speed or maximum forward rotation speed. That is, the maximum rotation speed of the side gears 16L and 16R in the direction opposite to the maximum rotation speed of the center gear 14 when the auxiliary transmission 13 is in the low-speed transmission state is set to be larger.

As shown in FIGS. 15A, 15B and 15C, the means for pulling the guide rail 48 through the turning release wire 38 by turning the turning lever 35 operates as follows. Bracket 5 for swinging support
The two operating arms 52L, 52R are pivoted to one
Are pivotally mounted around the pivot axis P4, respectively, and below the pivot lever 35, the left operation arm 52L pivots counterclockwise from the neutral position as the pivot lever 35 pivots to the left. At the same time, an operating pin 53 is provided for swinging the right operating arm 52R clockwise from the neutral position in accordance with the swinging of the turning lever 35 to the “right”, and the bracket 51 is attached to the bracket 51 from the neutral position of the left operating arm 52L. A positioning pin 54 for restricting the clockwise swing of the right arm and the clockwise swing of the right operating arm 52R from the neutral position is attached.
A spring 55 is provided to urge the two operation arms 52L, 52R to the neutral position over 2R, and the end of the inner wire 38a of the release release wire 38 is fixed to the left operation arm 52L. Of the outer wire 38b is fixed to the right operation arm 52R. That is, the swing lever 35 is urged to swing to the “straight-ahead” position by the spring 55, and the swing lever 35 is tilted to the left to swing the left operating arm 52 </ b> L with the spring 55. By swinging counterclockwise against the power, the inner wire 38a
By pulling the release wire 38 to pull the release rail 38, the guide rail 48 is rocked, and the swing lever 35 is tilted to the right to perform the rocking operation, so that the right operation arm 52R is biased by the spring 55. By oscillating clockwise, the end of the outer wire 38b is moved away from the end of the inner wire 38a, and the release wire 38 is pulled to actuate the guide rail 48.

As shown in FIG. 16, the hydraulic actuator 32 has a linear operation state in which both shifters 33L and 33R are positioned in a posture in which the shift members 17L and 17R are positioned at the center position, and only the left shift member 17L is The operation valve 58 is in a left turning operation state in which the left shifter 33L is positioned in the position where the right shift member 33R is positioned in the side position in which only the right shift member 17R is positioned in the side position. The control valve 59 controls the hydraulic actuator 32 to move straight when the control device 59 detects that the turning lever 35 is at the “straight” position by the turning switch 60. In the "straight ahead" position to be activated, the swivel lever 35 is in the "left" swivel position by the swivel switch 60. Cause the hydraulic actuator 35 to the left turning operation state when it is detected is in the "left turn" position, in turn switch 60 pivot lever 35 is "right"
When it is detected that the hydraulic actuator 35 is located at the turning position, the hydraulic actuator 35 is operated so as to be at the "right turning" position for bringing the hydraulic actuator 35 into the right turning operation state. That is, the operation valve 58
Is operated according to the operation state of the turning lever 35, and the shift members 17L and 17R, the shifters 33L and 33
R, hydraulic actuator 32, operation valve 58, control device 5
9. Based on the turning operation of the turning lever 35, the turning switch 60 stops the interlocking of the left and right traveling devices 1 with the continuously variable transmission 9 for traveling speed change and turns the traveling device 1 inside the turning. Turning interlocking means for interlocking with the continuously variable transmission 10 for use. The turning switch 60 is, as shown in FIG.
With the turning operation to the turning position, the operation lever 60a is pressed by the operation arm 60a connected to the turning lever 35 to turn on the left turning switch unit, and is pressed by the operation arm 60a as the turning operation of the turning lever to the “right” turning position. Then, the right turning switch is turned on.

Accordingly, by operating the turning lever 35 to the "straight forward" position to position both the shift members 17L and 17R at the center position, the center gear 14, the pawl clutches 18L and 18R, and the shift members 17L and 17R are provided. In this way, the left and right traveling devices 1 are driven by the continuously variable transmission 9 for traveling speed change, whereby it is possible to obtain a straight traveling state by operating the left and right traveling devices 1 at the same speed in the same direction. In this state, by operating the continuously variable transmission 9 for traveling speed change with the main transmission lever 34, continuously variable transmission and neutral stop in the straight forward traveling state and continuously variable transmission in the straight forward traveling state can be performed. By operating the device 13 with the auxiliary transmission lever 36, the traveling speed can be switched between high and low.

Then, as shown by the thick solid line a in FIG. 17, when the sub-transmission 13 is switched to the high-speed transmission state and the turning lever 35 is turned to the left in the straight forward high-speed running state for movement. , The left shift member 17L is located at the side position, and the right traveling device 1 is driven forward by the continuously variable transmission 9 for traveling speed change as described above, while the left relay gear 15L and the left side gear 16L are driven. Then, the left traveling device 1 is driven by the turning continuously variable transmission 10 via the left friction clutch 19L and the left shift member 17L, and the operation amount of the turning lever 35 to the "left" is increased. As a result, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced, so that a forward slow turning can be performed with the left turning inside by the speed difference between the left and right traveling devices 1. "Left By further increasing the amount of operation of the vehicle to make the continuously variable transmission 10 for turning into a shift neutral state, the left traveling device 1 is stopped and the left turning inside with the left turning inside (forward left turning) When the turning lever 35 is operated to the "left" maximum operating position, the reverse drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 moves forward. The left super turn (left spin turn) can be performed by running backward at the same speed as the traveling device 1 on the right. Note that FIG.
The thick solid line b in the middle indicates the traveling speed of the traveling device 1 on the right traveling forward at high speed.

Further, as shown by a thick solid line c in FIG. 17, when the turning lever 35 is turned to the right in the above-described straight forward forward high-speed traveling state, the right shift member 17R is shifted to the side position. While the left traveling device 1 is driven forward by the continuously variable transmission 9 for traveling speed change as described above, the right relay gear 15R, the right side gear 16R,
The right traveling device 1 is driven by the turning continuously variable transmission 10 via the right friction clutch 19R and the right shift member 17R, and the operation amount of the turning lever 35 to the “right” is increased. As a result, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced, and a forward gentle turning with the right turning inside can be performed by the speed difference between the left and right traveling devices 1. By moving the continuously variable transmission 10 for turning into the neutral state of shifting while still increasing the operation amount to the “right”, the right traveling device 1 is stopped and the right turn is turned inside with the right turning inside. (Forward right pivot turn), and when the turning lever 35 is operated to the "right" maximum operation position, the reverse drive speed of the continuously variable transmission 10 for turning is increased, so that the right traveling device Left running to travel forward 1 It's done right ultra-pivot turn of by reverse travel at equal speed and location 1 (right spin turn).
Note that the thick solid line d in FIG. 17 indicates the traveling speed of the left traveling device 1 traveling forward at high speed.

On the other hand, as shown by a thick broken line e in FIG. 17, when the sub-transmission 13 is switched to the high-speed transmission state and the turning lever 35 is turned to the left in a straight-forward reverse high-speed running state for movement. The left shift member 17L is located at the side position, and the right traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed change as described above, while the left relay gear 15L and the left side gear 16L are driven. Then, the left traveling device 1 is driven by the turning continuously variable transmission 10 via the left friction clutch 19L and the left shift member 17L, and the operation amount of the turning lever 35 to the "left" is increased. As a result, the reverse drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 accompanying this allows the vehicle to perform a gentle reverse turning with the left turning inside the turning. "Left" The left driving device 1 is stopped by turning the continuously variable transmission 10 for turning to the neutral state of the shift by further increasing the operation amount of the turning, and the reverse left pivot turning (the rear left pivot) When the turning lever 35 is operated to the "left" maximum operating position, the forward drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 travels backward. The left super turn (left spin turn) can be performed by running forward at the same speed as the right traveling device 1. Note that FIG.
The thick bold broken line f indicates the traveling speed of the right traveling device 1 that travels backward at high speed.

Further, as shown by a thick broken line g in FIG. 17, when the turning lever 35 is turned to the right in the above-described straight traveling reverse high-speed running state, the right shift member 17R is shifted to the side position. While the left traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed change as described above, the right relay gear 15R, the right side gear 16R,
The right traveling device 1 is driven by the turning continuously variable transmission 10 via the right friction clutch 19R and the right shift member 17R, and the operation amount of the turning lever 35 to the “right” is increased. As a result, the reverse drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 accompanying this allows the vehicle to make a slow reverse turning with the right turning inside. The operation amount to the "right" is still increased, and the continuously variable transmission 10 for turning is brought into the neutral state for shifting, so that the right traveling device 1 is stopped and the right turning inside is turned to the right. When the turning lever 35 is operated to the "right" maximum operation position, the forward drive speed of the continuously variable transmission 10 for turning is increased, so that the right traveling device is turned. Travel left on 1 It's done right ultra-pivot turn of is moved forward travel at equal speed and location 1 (right spin turn).
In addition, the thick broken line h in FIG. 17 indicates the traveling speed of the left traveling device 1 that travels backward at high speed.

Further, as shown by a thick solid line i in FIG. 18, when the turning lever 35 is turned to the "left" in the straight forward forward low-speed running state for work with the auxiliary transmission 13 switched to the low-speed transmission state. , The left shift member 17L is located at the side position, and the right traveling device 1 is driven forward by the continuously variable transmission 9 for traveling speed change as described above, while the left relay gear 15L and the left side gear 16L are driven. Then, the left traveling device 1 is driven by the turning continuously variable transmission 10 via the left friction clutch 19L and the left shift member 17L, and the operation amount of the turning lever 35 to the "left" is increased. As a result, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced, and a forward slow turning with the left turning inside can be performed by the speed difference between the left and right traveling devices 1. "Left By further increasing the amount of operation of the vehicle to make the continuously variable transmission 10 for turning into a shift neutral state, the left traveling device 1 is stopped and the left turning inside with the left turning inside (forward left turning) If the operation amount of the turning lever 35 to the “left” is further increased, the reverse drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 is moved. When the left spin turn (left spin turn) can be performed by traveling backward at the same speed as the right traveling device 1 traveling forward, and the turning lever 35 is operated to the "left" maximum operating position, the turning Since the reverse drive speed of the continuously variable transmission 10 is further increased, the left traveling device 1 can travel backward at a higher speed than the right traveling device 1 that travels forward to perform a super-super-revolution. is there. The thick solid line j in FIG. 18 indicates the traveling speed of the right traveling device 1 that travels forward and at low speed.

Further, as shown by the thick solid line k in FIG. 18, when the turning lever 35 is turned to the right in the above-mentioned straight forward traveling low-speed running state for work, the right shift member 17R is shifted to the side position. While the left traveling device 1 is driven forward by the continuously variable transmission 9 for traveling speed change as described above, the right relay gear 15R, the right side gear 16R,
The right traveling device 1 is driven by the turning continuously variable transmission 10 via the right friction clutch 19R and the right shift member 17R, and the operation amount of the turning lever 35 to the “right” is increased. As a result, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced, and a forward gentle turning with the right turning inside can be performed by the speed difference between the left and right traveling devices 1. By moving the continuously variable transmission 10 for turning into the neutral state of shifting while still increasing the operation amount to the “right”, the right traveling device 1 is stopped and the right turn is turned inside with the right turning inside. (Forward right pivot turn), and when the amount of operation of the turning lever 35 to “right” is further increased, the reverse drive speed of the continuously variable transmission 10 for turning is increased, so that the right traveling is performed. The left traveling device for traveling forward on the device 1 To reverse running at 1 and equal speed can the right ultra-pivot turn (right spin turn) of the pivot lever 3
5 is operated to the “right” maximum operation position, the reverse drive speed of the continuously variable transmission 10 for turning is further increased, so that the right traveling device 1 moves forward more than the left traveling device 1. It is possible to make a super-hypothetical turn by driving backward at high speed. Note that the thick solid line m in FIG. 18 indicates the traveling speed of the left traveling device 1 traveling forward and at low speed.

On the other hand, as shown by a thick broken line n in FIG. 18, when the turning lever 35 is turned to the "left" in a straight-ahead reverse low-speed traveling state for work in which the auxiliary transmission 13 is switched to the low-speed transmission state. The left shift member 17L is located at the side position, and the right traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed change as described above, while the left relay gear 15L and the left side gear 16L are driven. Then, the left traveling device 1 is driven by the turning continuously variable transmission 10 via the left friction clutch 19L and the left shift member 17L, and the operation amount of the turning lever 35 to the "left" is increased. As a result, the reverse drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 accompanying this allows the vehicle to make a slow reverse turning with the left turning inside the turning. "Left" The left driving device 1 is stopped by turning the continuously variable transmission 10 for turning to the neutral state of the shift by further increasing the operation amount of the turning, and the reverse left pivot turning (the rear left pivot) If the operation amount of the turning lever 35 to the “left” is further increased, the forward drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 moves backward. The left super turn (left spin turn) can be performed by traveling forward at the same speed as the traveling device 1 on which the vehicle travels, and when the turning lever 35 is operated to the maximum operating position of "left", no turning is performed. When the reverse drive speed of the step transmission 10 is further increased, the left traveling device 1 can travel forward at a higher speed than the right traveling device 1 that travels backward, thereby performing a super-revolution. . Note that the thick broken line p in FIG. 18 indicates the traveling speed of the right traveling device 1 that travels backward at low speed.

Further, as shown by the thick broken line q in FIG. 18, when the turning lever 35 is turned to the right in the above-described straight forward and low speed running state for work, the right shift member 17R is shifted to the side position. While the left traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed change as described above, the right relay gear 15R, the right side gear 16R,
The right traveling device 1 is driven by the turning continuously variable transmission 10 via the right friction clutch 19R and the right shift member 17R, and the operation amount of the turning lever 35 to the “right” is increased. As a result, the reverse drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 accompanying this allows the vehicle to make a slow reverse turning with the right turning inside. The operation amount to the "right" is still increased, and the continuously variable transmission 10 for turning is brought into the neutral state for shifting, so that the right traveling device 1 is stopped and the right turning inside is turned to the right. (Reverse right pivot turn). When the operation amount of the turning lever 35 to the “right” is further increased, the forward drive speed by the continuously variable transmission 10 for turning is increased, so that the right traveling is performed. The left traveling device that travels backward on the device 1 Advanced run at 1 and equal speed can the right ultra-pivot turn (right spin turn) of the pivot lever 3
5 is operated to the "right" maximum operation position, the reverse drive speed of the continuously variable transmission 10 for turning is further increased, so that the right traveling device 1 travels more backward than the left traveling device 1 traveling backward. It is possible to make a super-hypothetical turn by moving forward at a high speed. In addition, the thick broken line r in FIG. 18 indicates the traveling speed of the left traveling device 1 traveling backward at low speed.

As shown in FIGS. 14A, 14B and 14C, the linking operation means is provided with the turning lever 35.
The pull operation arm when the continuously variable transmission 10 for turning is brought into the neutral state for shifting in accordance with the forward rotation deceleration operation (forward speed deceleration operation during forward traveling and reverse speed deceleration operation during reverse traveling) among the turning operations of Shaft 7 linked to 49
In addition to increasing the operating resistance by contacting the pusher 71 provided at 0, the reverse rotation speed increasing operation of the turning lever 35 (the reverse speed increasing operation during forward running and the forward speed increasing operation during reverse running) is performed. Accordingly, a compression spring 72 is provided which is pushed and compressed by the pull operation arm 49 to increase the operation resistance as the operation amount increases.
The shaft 70 is inserted into the compression spring 72 and also serves as a deformation guide for the compression spring 72.

In this way, the combine travels straight by driving both the left and right traveling devices 1 by the continuously variable transmission 9 for traveling speed change by operating the turning lever 35 to the "straight ahead" position. The traveling device 1 on the inside of the turn is driven by the continuously variable transmission 10 for turning by turning operation of the lever 35 to the turning operation area, and with the increase in the amount of operation of the turning lever 35 to the turning operation area, the non-turning operation is performed. The speed change device 10 is configured to perform various forms of turning by performing a deceleration operation, a neutral state, and a reverse rotation acceleration operation.

The combine also includes the auxiliary transmission 1
When the turning lever 35 is turned in a state where the gear 3 is in the low-speed transmission state, the turning interlocking means operates until the rotation speed of the side gears 16L and 16R decreases to the rotation speed of the center gear 14, that is, traveling inside the turning operation. An interlocking check means for interlocking the operation of interlocking the device 1 with the continuously variable transmission 10 for turning is provided.

As shown in FIG. 16, the interlocking check means changes the transmission state of the sub-transmission 13 to the sub-transmission lever 36.
And a first speed detection sensor 90 for detecting the rotation speed N1 of the center gear 14.
A rotational speed sensor 91 and a second rotational speed sensor 92 for detecting the rotational speed N2 of the side gears 16L and 16R are provided. In the control device 59, a sub-transmission transmission state detection sensor 90 detects a low-speed transmission state and a turning sensor. Until the rotation speed N2 detected by the second rotation speed sensor 92 decreases to the rotation speed N1 detected by the first rotation speed sensor 91 in a state where the turning operation is detected by the rotation speed sensor 60, the operation valve 58 is detected by the rotation sensor 60. Priority is maintained at “straight ahead”, and the detected rotational speed N2 of the second rotational speed sensor 92 is changed to the detected rotational speed N1 of the first rotational speed sensor 91.
When the detection result of the turning sensor 60 is “left”, the operation valve 58 is set to the “left turn” position, and when the detection result of the turning sensor 60 is “right”, the operation valve 58 is set to “ The control unit 93 is provided to operate at the "right turn" position. That is, the turning control routine performed by the control unit 93 will be described. As shown in FIG. 19, the turning lever 35 is set to “left” or “left” when the auxiliary transmission 13 is not in the low-speed transmission state, that is, in the high-speed transmission state. When the control valve 58 is operated to the “right”, the operation valve 58 is immediately operated to the “left turn” or “right turn” position, and the left friction clutch 19L or the right friction clutch 19R is engaged to operate the left or right. Is driven by the continuously variable transmission 10 for turning. On the other hand, when the turning lever 35 is operated to “left” or “right” while the auxiliary transmission 13 is in the low-speed transmission state, the rotation speed N2 of the side gears 16L and 16R is changed to the center gear 1.
The operation valve 58 is "straight ahead" until the rotation speed N1 drops to 4.
When the rotation speed N2 of the side gears 16L and 16R is reduced to the rotation speed N1 of the center gear 14, the operation valve 58 is set to the left rotation. When the left friction clutch 19L or the right friction clutch 19R is operated by being turned to the “turn” or “right turn” position, the left or right traveling device 1 is driven by the continuously variable transmission 10 for turning. It will be in the state to be performed.

Therefore, regardless of the speed change state of the auxiliary transmission 13, at the start of the transition from straight running to turning, the running speeds of the left and right running devices 1 are equal, and the vehicle does not turn sharply. The transition can be done smoothly.

Then, the output shaft 9 of the hydraulic motor 9M for traveling speed is linked to the transmission system to the traveling device 1.
In the transmission system to the reaping unit 4 branched from A, a reaping clutch 61 and a reaping transmission 62 for intermittently transmitting power to the reaping unit 4 are interposed.

The reaping clutch 61 includes a reaping transmission 62.
Is also used. That is, the reaper transmission 6
When the transmission 2 is in the non-transmission state, the clutch is released, and when the cutting transmission 62 is in the transmission state, the clutch is engaged.

[Alternative Embodiment] The set value may be a value less than the rotation speed of the first traveling device drive unit 14, but is preferably as close as possible to the rotation speed of the first travel device drive unit 14.

The turning operation tool 35 may be a steering handle.

In the above embodiment, a combine is shown as a working machine, but the present invention can be applied to various working machines.

In the above embodiment, the traveling device 1 is
Although the crawler type is shown, the traveling device 1 may be a multi-wheel type having three or more wheels.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 Transmission system diagram

FIG. 3 is a system diagram of an operation linking mechanism.

FIG. 4 is a cross-sectional plan view of the tuning means.

FIG. 5 is a perspective view of a tuning means.

FIG. 6 is a longitudinal sectional front view of the tuning means.

FIG. 7 is a longitudinal sectional side view of the tuning means in a state in which the continuously variable transmission for traveling transmission is switched to forward.

FIG. 8 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to neutral.

FIG. 9 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse.

FIG. 10 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling is switched to the forward direction and the continuously variable transmission for turning is switched to the neutral position.

FIG. 11 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to the forward direction and the continuously variable transmission for turning is switched to the reverse direction.

FIG. 12 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse and the continuously variable transmission for turning is switched to neutral.

FIG. 13 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse and the continuously variable transmission for turning is switched to reverse.

FIG. 14 is an explanatory diagram of the operation of the pull operation arm.

FIG. 15 is an explanatory diagram of the operation of the pulling operation means.

FIG. 16 is an operation system diagram of a shift member.

FIG. 17 is an explanatory diagram showing a relationship between a turning operation amount in a high-speed running state and a speed of a traveling device inside a turn.

FIG. 18 is an explanatory diagram showing a relationship between a turning operation amount and a speed of a traveling device inside a turn in a high-speed running state.

FIG. 19 is a flowchart of a turning control routine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 9 Continuously variable transmission for traveling speed change 10 Continuously variable transmission for turning 13 Second transmission device 14 First traveling device drive unit 16L, 16R Second traveling device drive unit 35 Turning operation tool

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B62D 11/00

Claims (2)

(57) [Claims] In a working machine in which a continuously variable transmission for traveling and a second transmission are connected in series to a transmission system for left and right traveling devices in a state of being connected in series, a turning operation tool is in a straight-forward position. And a stepless transmission for turning that operates in synchronization with the continuously variable transmission and decelerates with an increase in the amount of turning operation of the turning operation tool is provided, based on the turning operation of the turning operation tool. Turning interlocking means for interrupting interlocking of the traveling device on the inside of the turning with the continuously variable transmission for turning and of the traveling device on the inside of the turning among the left and right traveling devices, and interlocking the traveling device on the inside of the turning with the continuously variable transmission for turning; The synchronous relationship between the continuously variable transmission for turning and the continuously variable transmission for turning is determined by using the continuously variable transmission for traveling shift or the first traveling device using the second transmission when the second transmission is in the high-speed transmission state. The drive unit and the continuously variable transmission for turning When the turning device is turned while the second transmission is in the low-speed transmission state, the rotation speed of the second driving device is set to the first speed. A steering device for a working machine provided with interlocking check means for controlling the operation of the turning interlocking means until the rotation interlocking means decreases to a set value equal to or lower than the rotation speed of the traveling device drive unit. 2. The steering device for a working machine according to claim 1, wherein the set value is a rotation speed of a first traveling device drive unit.